VSAG/amadeus_26_fb
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energy changed

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sun
2019-07-12 15:58:11 +08:00
parent 1c295e14ac
commit d494182740
20 changed files with 278 additions and 298 deletions
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102
others/src/additions/additions.cpp
View File

@@ -29,37 +29,36 @@ extern uint8_t last_state;
extern ArmorFinder armorFinder;
extern Energy energy;
void uartReceive(Serial* pSerial) {
void uartReceive(Serial *pSerial) {
char buffer[20];
int cnt = 0;
LOGM(STR_CTR(WORD_LIGHT_WHITE,"data receive start!"));
LOGM(STR_CTR(WORD_LIGHT_WHITE, "data receive start!"));
while (true) {
char byte = 0;
memset(buffer, 0, sizeof(buffer));
while (pSerial->ReadData((uint8_t*)&byte, 1) && byte!='\n') {
while (pSerial->ReadData((uint8_t *) &byte, 1) && byte != '\n') {
buffer[cnt++] = byte;
if (cnt >= sizeof(buffer)) {
// LOGE("data receive over flow!");
cnt = 0;
}
}
if (cnt==0 && byte=='\n'){
if (cnt == 0 && byte == '\n') {
LOGM("%d", cnt);
}
if (cnt == sizeof(mcuData)) {
memcpy(&mcuData, buffer, sizeof(mcuData));
LOGM("Get, state:%c, mark:%d!", mcuData.state, (int)mcuData.mark);
LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
}
cnt = 0;
}
}
cv::VideoWriter initVideoWriter(const std::string &filename_prefix){
cv::VideoWriter initVideoWriter(const std::string &filename_prefix) {
cv::VideoWriter video;
std::ifstream in(filename_prefix + "cnt.txt");
int cnt = 0;
if (in.is_open())
{
if (in.is_open()) {
in >> cnt;
in.close();
}
@@ -74,17 +73,17 @@ cv::VideoWriter initVideoWriter(const std::string &filename_prefix){
return video;
}
bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect){
if(!is_gimble_connect){
bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect) {
if (!is_gimble_connect) {
video_gimble = new CameraWrapper(0, "armor");
if(!(is_gimble_connect = video_gimble->init())){
if (!(is_gimble_connect = video_gimble->init())) {
delete video_gimble;
video_gimble = nullptr;
}
}
if(!is_chassis_connect){
if (!is_chassis_connect) {
video_chassis = new CameraWrapper(1, "energy");
if(!(is_chassis_connect = video_chassis->init())){
if (!(is_chassis_connect = video_chassis->init())) {
delete video_chassis;
video_chassis = nullptr;
}
@@ -92,10 +91,10 @@ bool checkReconnect(bool is_gimble_connect, bool is_chassis_connect){
return is_gimble_connect && is_chassis_connect;
}
bool checkReconnect(bool is_gimble_connect){
if(!is_gimble_connect){
bool checkReconnect(bool is_gimble_connect) {
if (!is_gimble_connect) {
video_gimble = new CameraWrapper(0, "armor");
if(!(is_gimble_connect = video_gimble->init())){
if (!(is_gimble_connect = video_gimble->init())) {
delete video_gimble;
video_gimble = nullptr;
}
@@ -106,50 +105,69 @@ bool checkReconnect(bool is_gimble_connect){
auto gimble_video_writer = initVideoWriter(PROJECT_DIR"/gimble_video/");
auto chassis_video_writer = initVideoWriter(PROJECT_DIR"/chassis_video/");
void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src){
if(!gimble_src.empty() && !chassis_src.empty()){
void saveVideos(const cv::Mat &gimble_src, const cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
gimble_video_writer.write(gimble_src);
Mat chassis_save = chassis_src.clone();
cvtColor(chassis_save,chassis_save,COLOR_GRAY2BGR);
cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR);
chassis_video_writer.write(chassis_save);
}
else if(!gimble_src.empty() && chassis_src.empty()){
} else if (!gimble_src.empty() && chassis_src.empty()) {
gimble_video_writer.write(gimble_src);
}
else if(gimble_src.empty() && !chassis_src.empty()){ if (show_origin)imshow("src", gimble_src);
} else if (gimble_src.empty() && !chassis_src.empty()) {
if (show_origin)imshow("src", gimble_src);
Mat chassis_save = chassis_src.clone();
cvtColor(chassis_save,chassis_save,COLOR_GRAY2BGR);
cvtColor(chassis_save, chassis_save, COLOR_GRAY2BGR);
chassis_video_writer.write(chassis_save);
}
else return;
} else return;
}
void saveVideos(const cv::Mat &gimble_src){
if(!gimble_src.empty()){
void saveVideos(const cv::Mat &gimble_src) {
if (!gimble_src.empty()) {
gimble_video_writer.write(gimble_src);
}
else return;
} else return;
}
void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src){
if(!gimble_src.empty() && !chassis_src.empty()){
void showOrigin(const cv::Mat &gimble_src, const cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
imshow("gimble", gimble_src);
imshow("chassis", chassis_src);
}
else if(!gimble_src.empty() && chassis_src.empty()){
} else if (!gimble_src.empty() && chassis_src.empty()) {
imshow("gimble", gimble_src);
}
else if(gimble_src.empty() && !chassis_src.empty()){
} else if (gimble_src.empty() && !chassis_src.empty()) {
imshow("chassis", chassis_src);
}
else return;
} else return;
cv::waitKey(1);
}
void showOrigin(const cv::Mat &gimble_src){
if(!gimble_src.empty()){
void showOrigin(const cv::Mat &gimble_src) {
if (!gimble_src.empty()) {
imshow("gimble", gimble_src);
}
else return;
} else return;
cv::waitKey(1);
}
void extract(cv::Mat &gimble_src, cv::Mat &chassis_src) {
if (!gimble_src.empty() && !chassis_src.empty()) {
extract(gimble_src);
extract(chassis_src);
} else if (!gimble_src.empty() && chassis_src.empty()) {
extract(gimble_src);
} else if (gimble_src.empty() && !chassis_src.empty()) {
extract(chassis_src);
} else return;
}
void extract(cv::Mat &gimble_src) {//图像预处理，将视频切成640×480的大小
if (gimble_src.empty()) return;
float length = static_cast<float>(gimble_src.cols);
float width = static_cast<float>(gimble_src.rows);
if (length / width > 640.0 / 480.0) {
length *= 480.0 / width;
resize(gimble_src, gimble_src, cv::Size(length, 480));
gimble_src = gimble_src(Rect((length - 640) / 2, 0, 640, 480));
} else {
width *= 640.0 / length;
resize(gimble_src, gimble_src, cv::Size(640, width));
gimble_src = gimble_src(Rect(0, (width - 480) / 2, 640, 480));
}
}

1
others/src/camera/video_wrapper.cpp
View File

@@ -18,5 +18,4 @@ bool VideoWrapper::init() {
bool VideoWrapper::read(cv::Mat &src) {
return video.read(src);
}